US10702440B2 - Motion assistance apparatus and method of controlling the same - Google Patents

Motion assistance apparatus and method of controlling the same Download PDF

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Publication number
US10702440B2
US10702440B2 US15/012,528 US201615012528A US10702440B2 US 10702440 B2 US10702440 B2 US 10702440B2 US 201615012528 A US201615012528 A US 201615012528A US 10702440 B2 US10702440 B2 US 10702440B2
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Prior art keywords
user
torque
motion
leg
support
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US15/012,528
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US20170049658A1 (en
Inventor
Kyung-Rock KIM
Youngjin Park
Youngbo SHIM
Bokman LIM
Jun-Won JANG
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Samsung Electronics Co Ltd
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Samsung Electronics Co Ltd
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Assigned to SAMSUNG ELECTRONICS CO., LTD. reassignment SAMSUNG ELECTRONICS CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: JANG, JUN-WON, KIM, KYUNG-ROCK, LIM, BOKMAN, PARK, YOUNGJIN, Shim, Youngbo
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5007—Prostheses not implantable in the body having elastic means different from springs, e.g. including an elastomeric insert
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A—HUMAN NECESSITIES
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    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A—HUMAN NECESSITIES
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    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
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    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors

Definitions

  • At least one example embodiment relates to a motion assistance apparatus and/or a method of controlling the same.
  • motion assistance apparatuses enabling the elderly and/or patients having joint problems to walk with less effort.
  • motion assistance apparatuses increasing muscular strength of human bodies may be desired for military purposes.
  • Some example embodiments relate to a motion assistance apparatus.
  • the motion assistance apparatus may include a fixing module to be attached to a waist of a user, a driving module provided in the fixing module to provide a torque to assist a motion of the user, a supporting module connected to the driving module to support a portion of a circumference of a leg of the user, and a controller configured to control the driving module to provide a torque to maintain a close contact between the supporting module and the leg of the user while the user is not walking.
  • the supporting module may include a force transmitting frame of which one end portion is connected to the driving module and another end portion extends along the leg of the user, and a plate body connected to the force transmitting frame to support a rear side of the circumference of the leg of the user.
  • the supporting module may further include a wing disposed on a side of the leg of the user to extend from the plate body toward one side or both sides, and one end portion of the wing may be disposed not to overlap a front surface of the leg of the user based on a direction in which the force transmitting frame rotates.
  • the motion assistance apparatus may further include an elastic body configured to provide an elastic force to the supporting module in a direction in which the user proceeds in a state in which the user is standing erect.
  • the elastic body may include a first connector connected to the fixing module, and a second connector connected to the supporting module.
  • the elastic body may further include a hanging portion disposed between the first connector and the second connector and hung on one side of the fixing module or the supporting module.
  • the elastic body may be a torsion spring further including a winding portion wound over the driving module.
  • the elastic body may include a static load spring configured to provide a predetermined elastic torque irrespective of a rotation angle of the leg of the user.
  • An end portion of the supporting module may be disposed between a hip joint and a knee of the user to support a thigh of the user, and an additional driving module and an additional supporting module configured to assist a motion of another portion of the user may not be connected to the end portion of the supporting module.
  • the controller may be configured to control the driving module based on information received from at least one of an inertial sensor configured to measure angular information of an upper body of the user, an encoder configured to measure an angle between the upper body and a lower body of the user, a pressure sensor configured to measure a pressure applied by the leg of the user to the supporting module, and a strain gauge configured to measure a deformation of the supporting module.
  • an inertial sensor configured to measure angular information of an upper body of the user
  • an encoder configured to measure an angle between the upper body and a lower body of the user
  • a pressure sensor configured to measure a pressure applied by the leg of the user to the supporting module
  • a strain gauge configured to measure a deformation of the supporting module.
  • FIG. 1 For example embodiments, relate to a method of controlling a motion assistance apparatus including a fixing module to be attached to a waist of a user and a supporting module configured to support a leg of the user.
  • the method may include sensing leg rotation information of the user, determining a motion of the user based on the sensed leg rotation information, determining a necessary torque to be provided to the user based on the determined motion, determining a driving torque of a driving module configured to generate a motion assistance force, based on the necessary torque, and rotating the supporting module by driving the driving module with the determined driving torque.
  • the supporting module may be connected to the driving module to support a rear surface of the leg of the user.
  • the determining of the necessary torque may include determining the necessary torque to be a predetermined motion assistance torque when a motion of the user is a flexion motion, determining the necessary torque to be a contact maintenance torque less than the motion assistance torque when the motion of the user is a stop motion, and determining the necessary torque to be “0” when the motion of the user is an extension motion.
  • the leg rotation information of the user may include at least one of an angular velocity of the leg of the user, a gait cycle of the user, a pressure applied to the supporting module, and a deformation degree of the supporting module.
  • the sensing may include measuring an angle of an upper body of the user, measuring a relative angle between the upper body and the leg of the user, determining an angle of the leg of the user based on the angle of the upper body and the relative angle, and determining the angular velocity of the leg of the user.
  • the determining of the motion may include determining the motion of the user to be a flexion motion when the angular velocity is less than a first set value, determining the motion of the user to be a stop motion when the angular velocity is greater than or equal to the first set value, and less than a second set value which is greater than the first set value, and determining the motion of the user to be an extension motion when the angular velocity is greater than or equal to the second set value.
  • the motion assistance apparatus may further include an elastic body configured to provide an elastic force to the supporting module in a direction in which the supporting module proceeds forward, and the determining of the driving torque may include determining the driving torque to be a value obtained by subtracting the elastic torque of the elastic body from the necessary torque.
  • FIG. 1 For example embodiments, relate to a method of controlling a motion assistance apparatus including a fixing module to be attached to a waist of a user and a supporting module configured to support a leg of the user.
  • the method may include sensing leg rotation information of the user, determining a motion of the user based on the sensed leg rotation information, determining a driving torque of a driving module configured to generate a motion assistance force, based on the determined motion, and rotating the supporting module in one direction by driving the driving module with the determined driving torque.
  • the supporting module may be connected to the driving module to support a rear surface of the leg of the user.
  • the motion assistance apparatus may further include an elastic body configured to provide an elastic force to the supporting module in a direction in which the supporting module proceeds forward.
  • the determining of the motion may include determining the motion of the user to be a flexion motion when an angular velocity of the leg of the user is less than a set value, and determining the motion of the user to not be the flexion motion when the angular velocity of the leg of the user exceeds the set value.
  • the determining of the driving torque may include determining the driving torque to be a predetermined motion assistance torque when the motion of the user is the flexion motion, and determining the driving torque to be “0” when the motion of the user is not the flexion motion.
  • Some example embodiments relate to a motion assistance apparatus.
  • the motion assistance apparatus includes a driver configured to generate a driving torque to assist motion of a leg of a user; a controller configured to instruct the driver to generate the driving torque; and a support configured to support a rear half of thigh of the user such that the support is configured to maintain a distance therebetween when the user is in an idle state.
  • the controller is configured to determine which gait state is associated with the user based on one of an angular velocity of the leg of the user, a current gait state of the user within a gait cycle, an amount of pressure applied to the support, and a degree the support is deformed
  • the support is configured to provide less force to the thigh of the user, if the gait state of the user is an extension state in which the leg of the user is swinging front to back than when the gait state of the user is a flexion state in which the leg of the user is swinging back to front.
  • the controller is configured to determine the gait state by setting the gait state of the user as one of the flexion state, the idle state, and the extension state based on the angular velocity of the leg of the user, a lower threshold angular velocity associated with the idle state, and a upper threshold angular velocity associated with the idle state.
  • the controller is configured to instruct the driver to generate a motion assistance torque as the driving torque, if the gait state if the user is the flexion state, the motion assistance torque being a level of torque sufficient to lift the leg of the user.
  • the controller is configured to, instruct the driver to set the driving torque to zero, if the gait state of the user is one of (i) the extension state, and (ii) the idle state and an elastic force applied to the support is equal to or greater than a contact maintenance torque, the contact maintenance torque being a level of torque less than the level of the motion assistance torque and sufficient to maintain the distance between the support and the rear half of the thigh of the user, and instruct the driver to generate the contact maintenance torque as the driving torque, if the gait state of the user is the idle state and the elastic force applied to the support is less than the contact maintenance torque.
  • FIG. 1 is a side view illustrating a motion assistance apparatus according to at least one example embodiment
  • FIG. 2 is a front view illustrating a motion assistance apparatus according to at least one example embodiment
  • FIG. 3 is a block diagram illustrating a motion assistance apparatus according to at least one example embodiment
  • FIG. 4 is a flowchart illustrating a method of controlling a motion assistance apparatus according to at least one example embodiment
  • FIG. 5 is a flowchart illustrating an operation of sensing leg rotation information according to at least one example embodiment
  • FIG. 6 illustrates a state in which a user is standing erect to describe an operation of sensing leg rotation information according to at least one example embodiment
  • FIG. 7 illustrates a state in which a user is walking to describe an operation of sensing leg rotation information according to at least one example embodiment
  • FIG. 8 is a flowchart illustrating an operation of determining a motion according to at least one example embodiment
  • FIG. 9A is a graph illustrating a rotation speed of one leg of a user
  • FIG. 9B is a graph illustrating a necessary torque determined through a method of controlling a motion assistance apparatus according to at least one example embodiment
  • FIGS. 10 and 11 are views illustrating a motion assistance apparatus according to at least one example embodiment
  • FIGS. 12 and 13 are views illustrating a motion assistance apparatus according to at least one example embodiment
  • FIGS. 14 and 15 are views illustrating a motion assistance apparatus according to at least one example embodiment
  • FIG. 16 is a flowchart illustrating a method of controlling a motion assistance apparatus according to at least one example embodiment
  • FIG. 17A is a graph illustrating a necessary torque determined through a method of controlling a motion assistance apparatus according to at least one example embodiment
  • FIG. 17B is a graph illustrating an elastic torque determined through a method of controlling a motion assistance apparatus according to at least one example embodiment
  • FIG. 17C is a graph illustrating a driving torque determined through a method of controlling a motion assistance apparatus according to at least one example embodiment
  • FIG. 18 is a flowchart illustrating a method of controlling a motion assistance apparatus according to at least one example embodiment
  • FIG. 19 is a view illustrating a motion assistance apparatus according to at least one example embodiment
  • FIG. 20 is a flowchart illustrating a method of controlling a motion assistance apparatus according to at least one example embodiment.
  • FIG. 21 is a view illustrating a motion assistance apparatus according to at least one example embodiment.
  • first, second, A, B, (a), (b), and the like may be used herein to describe components.
  • Each of these terminologies is not used to define an essence, order or sequence of a corresponding component but used merely to distinguish the corresponding component from other component(s). It should be noted that if it is described in the specification that one component is “connected”, “coupled”, or “joined” to another component, a third component may be “connected”, “coupled”, and “joined” between the first and second components, although the first component may be directly connected, coupled or joined to the second component.
  • spatially relative terms such as “beneath,” “below,” “lower,” “under,” “above,” “upper,” and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below,” “beneath,” or “under,” other elements or features would then be oriented “above” the other elements or features. Thus, the example terms “below” and “under” may encompass both an orientation of above and below.
  • the device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
  • the element when an element is referred to as being “between” two elements, the element may be the only element between the two elements, or one or more other intervening elements may be present.
  • Example embodiments may be described with reference to acts and symbolic representations of operations (e.g., in the form of flow charts, flow diagrams, data flow diagrams, structure diagrams, block diagrams, etc.) that may be implemented in conjunction with units and/or devices discussed in more detail below.
  • a function or operation specified in a specific block may be performed differently from the flow specified in a flowchart, flow diagram, etc.
  • functions or operations illustrated as being performed serially in two consecutive blocks may actually be performed simultaneously, or in some cases be performed in reverse order.
  • Units and/or devices may be implemented using hardware, software, and/or a combination thereof.
  • hardware devices may be implemented using processing circuitry such as, but not limited to, a processor, Central Processing Unit (CPU), a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a System-on-Chip (SoC), a programmable logic unit, a microprocessor, or any other device capable of responding to and executing instructions in a defined manner.
  • processing circuitry such as, but not limited to, a processor, Central Processing Unit (CPU), a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a System-on-Chip (SoC), a programmable logic unit, a microprocessor, or any other device capable of responding to and executing instructions in a defined manner.
  • Software may include a computer program, program code, instructions, or some combination thereof, for independently or collectively instructing or configuring a hardware device to operate as desired.
  • the computer program and/or program code may include program or computer-readable instructions, software components, software modules, data files, data structures, and/or the like, capable of being implemented by one or more hardware devices, such as one or more of the hardware devices mentioned above.
  • Examples of program code include both machine code produced by a compiler and higher level program code that is executed using an interpreter.
  • a hardware device is a computer processing device (e.g., a processor, Central Processing Unit (CPU), a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a microprocessor, etc.)
  • the computer processing device may be configured to carry out program code by performing arithmetical, logical, and input/output operations, according to the program code.
  • the computer processing device may be programmed to perform the program code, thereby transforming the computer processing device into a special purpose computer processing device.
  • the processor becomes programmed to perform the program code and operations corresponding thereto, thereby transforming the processor into a special purpose processor.
  • Software and/or data may be embodied permanently or temporarily in any type of machine, component, physical or virtual equipment, or computer storage medium or device, capable of providing instructions or data to, or being interpreted by, a hardware device.
  • the software also may be distributed over network coupled computer systems so that the software is stored and executed in a distributed fashion.
  • software and data may be stored by one or more computer readable recording mediums, including the tangible or non-transitory computer-readable storage media discussed herein.
  • computer processing devices may be described as including various functional units that perform various operations and/or functions to increase the clarity of the description.
  • computer processing devices are not intended to be limited to these functional units.
  • the various operations and/or functions of the functional units may be performed by other ones of the functional units.
  • the computer processing devices may perform the operations and/or functions of the various functional units without sub-dividing the operations and/or functions of the computer processing units into these various functional units.
  • Units and/or devices may also include one or more storage devices.
  • the one or more storage devices may be tangible or non-transitory computer-readable storage media, such as random access memory (RAM), read only memory (ROM), a permanent mass storage device (such as a disk drive), solid state (e.g., NAND flash) device, and/or any other like data storage mechanism capable of storing and recording data.
  • the one or more storage devices may be configured to store computer programs, program code, instructions, or some combination thereof, for one or more operating systems and/or for implementing the example embodiments described herein.
  • the computer programs, program code, instructions, or some combination thereof may also be loaded from a separate computer readable storage medium into the one or more storage devices and/or one or more computer processing devices using a drive mechanism.
  • a separate computer readable storage medium may include a Universal Serial Bus (USB) flash drive, a memory stick, a Blu-ray/DVD/CD-ROM drive, a memory card, and/or other like computer readable storage media.
  • the computer programs, program code, instructions, or some combination thereof may be loaded into the one or more storage devices and/or the one or more computer processing devices from a remote data storage device via a network interface, rather than via a local computer readable storage medium.
  • the computer programs, program code, instructions, or some combination thereof may be loaded into the one or more storage devices and/or the one or more processors from a remote computing system that is configured to transfer and/or distribute the computer programs, program code, instructions, or some combination thereof, over a network.
  • the remote computing system may transfer and/or distribute the computer programs, program code, instructions, or some combination thereof, via a wired interface, an air interface, and/or any other like medium.
  • the one or more hardware devices, the one or more storage devices, and/or the computer programs, program code, instructions, or some combination thereof, may be specially designed and constructed for the purposes of the example embodiments, or they may be known devices that are altered and/or modified for the purposes of example embodiments.
  • a hardware device such as a computer processing device, may run an operating system (OS) and one or more software applications that run on the OS.
  • the computer processing device also may access, store, manipulate, process, and create data in response to execution of the software.
  • OS operating system
  • a hardware device may include multiple processing elements and multiple types of processing elements.
  • a hardware device may include multiple processors or a processor and a controller.
  • other processing configurations are possible, such as parallel processors.
  • FIG. 1 is a side view illustrating a motion assistance apparatus 1 according to at least one example embodiment
  • FIG. 2 is a front view illustrating the motion assistance apparatus 1 according to at least one example embodiment
  • FIG. 3 is a block diagram illustrating the motion assistance apparatus 1 according to at least one example embodiment.
  • the motion assistance apparatus 1 may be worn by a user to assist a motion of the user.
  • the user may correspond to a human, an animal, or a robot.
  • the user is not limited thereto.
  • FIG. 1 illustrates a case in which the motion assistance apparatus 1 assists motions of thighs of the user
  • the motion assistance apparatus 1 may assist a motion of any body part of the user.
  • the motion assistance apparatus 1 may also assist a motion of an upper body, for example, a hand, an upper arm, and a lower arm of the user.
  • the motion assistance apparatus 1 may assist a motion of another part of a lower body, for example, a foot, and a calf of the user.
  • the motion assistance apparatus 1 assists motions of thighs of a human.
  • example embodiments are not limited thereto.
  • the motion assistance apparatus 1 may include a fixing module 20 , a driving module 30 , a supporting module 40 , an inertial sensor 50 , and a controller 90 .
  • the fixing module 20 may be fixed to the user.
  • the fixing module 20 may cover an outer surface of the user.
  • the fixing module 20 may be fixed to the sides of a waist of the user, and include a curved surface corresponding to a contact portion of the user.
  • the fixing module 20 may include a fixing frame 22 configured to enclose at least a portion of the user, and a fixing band 24 connected to the fixing frame 22 and in close contact with the user.
  • the fixing frame 22 may be formed using a rigid material, and the fixing band 24 may be formed using a flexible material.
  • the fixing module 20 may include a single frame.
  • the fixing band 24 may include a fastening portion 24 a that is detachable for ease of wearing.
  • the fastening portion 24 a may be provided in a structure of a hook and loop fastener, a snap fastener, or a buckle fastener.
  • example embodiments are not limited thereto.
  • the driving module 30 may be provided on one side of the fixing module 20 to provide a force or a torque to be transmitted to the supporting module 40 .
  • the driving module 30 may include an actuator 32 configured to receive a voltage or a current from a power supply and generate a rotation power, and an encoder 34 configured to measure an angle between an upper body and a lower body of the user.
  • the encoder 34 may measure the angle between the upper body and the lower body of the user by measuring an angle at which the actuator 32 rotates with respect to the fixing module 20 .
  • the driving module 30 may also be connected to the supporting module 40 through a medium of a separate joint assembly.
  • a power transmitting module configured to transmit a power from the driving module 30 to the joint assembly may be provided additionally.
  • the power transmitting module may be a rotary body such as, for example, a gear, or a longitudinal member such as, for example, a wire, a cable, a string, a rubber band, a spring, a belt, and a chain.
  • the driving module 30 may be disposed on one or more sides of the fixing module 20 .
  • the driving module 30 may be disposed at a position corresponding to one or more joint portions of the user, for example, one or more hip joint portions of the user.
  • the driving module 30 may be connected to the supporting module 40 through a medium of the separate joint assembly.
  • the joint assembly may be disposed at the joint portion of the user, for example, the hip joint portion of the user.
  • the supporting module 40 may rotate using the force or the torque provided from the driving module 30 .
  • the supporting module 40 may support a lower limb of the user, for example, a thigh of the user, and assist a motion of the lower limb.
  • the supporting module 40 may support a rear portion of the thigh of the user, and transmit a force or a torque to move a leg of the user forward.
  • the supporting module 40 may support the rear portion of the thigh, but may not support a front portion of the thigh.
  • the supporting module 40 may not include a tightening portion configured to tighten the thigh.
  • the supporting module 40 may include a band configured to enclose a front portion of the leg of the user.
  • the band may include a flexible material such as, for example, fabric, silicon, and/or rubber.
  • the band may prevent a separation of the leg of the user from the supporting module 40 while the driving module 30 is out of operation (or, alternatively, idle).
  • a supporting band is provided, the band may not substantially transmit a force or a torque to move the leg of the user backward according to a control method to be described later.
  • the supporting module 40 should not include any component configured to enclose a thigh.
  • the supporting module 40 may include a force transmitting frame 42 , and a supporting plate 44 .
  • the force transmitting frame 42 may transmit a force to a portion of the user.
  • One end portion of the force transmitting frame 42 may be rotatably connected to the driving module 30 , and another end portion of the force transmitting frame 42 may be connected to the supporting plate 44 to transmit a force to the supporting plate 44 .
  • the supporting plate 44 may be connected to the other end portion of the force transmitting frame 42 to apply a force to a portion of the user.
  • the supporting plate 44 may be disposed on a rear side of the thigh of the user to push the thigh of the user.
  • the supporting plate 44 may transmit a force to the thigh of the user in a direction in which the thigh of the user is pushed when the force transmitting frame 42 rotates forward; however, the supporting plate 44 may not transmit a force to the thigh of the user when the force transmitting frame 42 rotates backward.
  • the supporting plate 44 may transmit a force to the user in only one direction.
  • the supporting plate 44 may not tighten the thigh of the user, a pressure that the user may experience may be alleviated and a wearability may increase. Further, the supporting plate 44 may support only the rear side of the thigh. Thus, the supporting plate 44 may reduce a force action point, when compared to a case in which the thigh is tightened, whereby a distortion of the entire supporting module 40 may be reduced. In addition, the supporting plate 44 may be simply structured, whereby the weight of the motion assistance apparatus 1 may be reduced.
  • the supporting plate 44 may include a plate body 44 a connected to the other end portion of the force transmitting frame 42 , and one or more wings 44 b configured to extend from one or more sides of the plate body 44 a.
  • the plate body 44 a may be disposed on a rear side of the user based on a direction in which the user proceeds.
  • the plate body 44 a may be disposed on a rear surface of the thigh of the user.
  • the wing 44 b may be disposed on a side portion of the user.
  • the wing 44 b may be disposed on a side surface of the thigh of the user.
  • the wing 44 b may prevent a lateral separation of the thigh of the user.
  • the wing 44 b may be provided not to enclose a front surface of the thigh.
  • an end portion of the wing 44 b which is positioned at a longest distance from the plate body 44 a may be disposed to not overlap the front surface of the thigh based on a direction in which the force transmitting frame 42 rotates.
  • the lateral separation of the thigh of the user may be prevented while the thigh of the user is not tightened.
  • the inertial sensor 50 may measure angle information of the upper body when the user is walking.
  • the angle information of the upper body measured by the inertial sensor 50 may be transmitted to the controller 90 and utilized to confirm rotation information of the leg.
  • the controller 90 may include a memory and a processor.
  • the memory may be a non-volatile memory, a volatile memory, a hard disk, an optical disk, and a combination of two or more of the above-mentioned devices.
  • the memory may be a non-transitory computer readable medium.
  • the non-transitory computer-readable media may also be a distributed network, so that the program instructions are stored and executed in a distributed fashion.
  • the non-volatile memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), or a flash memory.
  • the volatile memory may be a Random Access Memory (RAM).
  • the processor may be implemented by at least one semiconductor chip disposed on a printed circuit board.
  • the processor may be an arithmetic logic unit, a digital signal processor, a microcomputer, a field programmable array, a programmable logic unit, a microprocessor or any other device capable of responding to and executing instructions in a defined manner.
  • the processor may be programmed with instructions that configure the processor into a special purpose computer to perform the operations illustrated in one or more of FIGS. 4, 5, 8, 16, 18, and 20 to determine a motion of the user, and control the driving module 30 based on the determined motion.
  • the processor may adjust an amount of driving torque provided to the user via the supporting module 40 to maintain a distance between the support and a rear half of a thigh of the user based on whether the user is in an idle state and whether a static elastic force is provided to the support irrespective of the driving torque. Therefore the controller 90 may improve the functioning of the motion assistance apparatus 1 itself by reducing a force from the supporting module 40 against the thigh of the user generated when the user begins to walk forward from an idle state.
  • the controller 90 may determine an angle of the lower body of the user based on an angle of the upper body of the user sensed by the inertial sensor 50 , and a relative angle between the upper body and the lower body of the user sensed by the encoder 34 . Further, the controller 90 may determine whether the user is performing a flexion motion in which the leg rotates forward, whether the user is performing an extension motion in which the leg rotates backward, or whether the user is performing a stop motion in which the leg is stopped at a desired (or, alternatively, a predetermined) angle, based on a variation in the determined angle of the lower body of the user.
  • the controller 90 may determine whether the user is performing the flexion motion, the extension motion, or the stop motion by comparing a current gait pattern of the user to an input (or, alternatively, a pre-input) gait pattern of the user, for example, a gait cycle of the user.
  • controller 90 may employ other methods to determine a motion of a user.
  • the motion assistance apparatus 1 may include one or more additional driving modules and/or supporting modules.
  • the supporting module 40 may extend to a knee, and an additional driving module may be provided in the supporting module 40 at a position corresponding to a knee joint. Further, an additional supporting module may be connected to the additional driving module. The additional supporting module may assist a motion of a calf of the user by supporting the calf of the user.
  • the end portion of the supporting module 40 may be disposed between the hip joint and the knee of the user, and an additional driving module and an additional supporting module configured to assist a motion of another portion of the user may not be connected to the end portion of the supporting module 40 .
  • the overall weight of the motion assistance apparatus 1 may be reduced.
  • FIG. 4 is a flowchart illustrating a method of controlling a motion assistance apparatus according to at least one example embodiment.
  • the controller 90 may execute the method of controlling a motion assistance apparatus. For example, the controller may execute operation 1100 of sensing leg rotation information of a user, operation 1200 of determining a motion of the user based on the sensed leg rotation information, operation 1300 of determining a necessary (or, alternatively, a desired) torque T_N to be applied to the user based on the determined motion, operation 1400 of determining a driving torque T_D based on the determined necessary torque T_N, and operation 1500 of driving an actuator using the determined driving torque T_D.
  • the controller may execute operation 1100 of sensing leg rotation information of a user, operation 1200 of determining a motion of the user based on the sensed leg rotation information, operation 1300 of determining a necessary (or, alternatively, a desired) torque T_N to be applied to the user based on the determined motion, operation 1400 of determining a driving torque T_D based on the determined necessary torque T_N, and operation 1500 of driving an actuator using the determined driving torque T_D.
  • the necessary torque T_N may be a sum of torques to be applied from outside to a lower body of the user.
  • the driving torque T_D may be a torque generated by the driving module 30 and applied to the user.
  • the controller 90 may set the driving torque T_D to be identical to the necessary torque T_N.
  • example embodiments are not limited thereto.
  • the controller 90 may set the driving torque T_D in view of an effect of an external force other than the necessary torque T_N. Details of operations 1100 to 1500 will now be descried below.
  • the controller 90 may sense the leg rotation information of the user directly or indirectly using a leg rotation information sensor.
  • a leg rotation information sensor that directly senses the leg rotation information of the user may include an inertial sensor attached directly to a leg of the user.
  • a leg rotation information sensor that indirectly senses the leg rotation information of the user may include an inertial sensor configured to measure angle information of an upper body when the user is walking, an encoder configured to measure an angle between the upper body and a lower body of the user, a pressure sensor configured to measure a pressure applied by the leg of the user to a supporting module, and/or a strain gauge configured to measure a deformation of the supporting module. Operation 1100 will be discussed in more detail below with regards to FIGS. 5 to 7 .
  • the controller 90 may determine whether a motion of the user corresponds to flexion motion, stop motion or extension motion based on the sensed leg rotation information. Operation 1200 will be discussed in more detail below with regards to FIGS. 8 to 9B .
  • the controller 90 may determine the necessary torque T_N based on whether the motion of the user corresponds to the flexion motion, for example, a state in which the leg of the user is rotating forward, the stop motion, for example, a state in which the leg of the user is not rotating, or the extension motion, for example, a state in which the leg of the user is rotating backward.
  • the controller 90 may set the necessary torque T_N as a motion assistance torque.
  • the motion assistance torque may refer to a torque that is preset to be a value that is sufficiently high for a supporting plate to lift the leg of the user, and applied in a direction in which the leg of the user is pushed.
  • the user may receive the motion assistance torque and rotate the leg forward using less force.
  • the motion assistance torque is applied, the user may reduce use of a muscle of the user. Such reduction may reduce a load applied to a joint of the user, which is helpful to a patient suffering from a disease, for example, arthritis, and thus the disease may be mitigated and impeded.
  • the controller 90 may set the necessary torque T_N as a contact maintenance torque.
  • the contact maintenance torque may refer to a torque to be applied in a direction in which the leg of the user is pushed to maintain a contact between the supporting plate and a rear surface of the leg of the user, and may be preset. In detail, the contact maintenance torque is not a torque to directly rotate the leg of the user.
  • a magnitude of the contact maintenance torque may be set to be less than a magnitude of the motion assistance torque.
  • the contact maintenance torque may be set to be a sufficiently small value so that the user may not experience an excessive load from the contact maintenance torque when the user maintains a stop state.
  • the contact maintenance torque may maintain a close contact between the thigh of the user and a supporting module of a motion assistance apparatus not including a thigh tightening portion at all times. Accordingly, when the leg of the user switches a motion from the stop motion to the flexion motion, a sudden slap of the supporting module on the thigh of the user may be prevented.
  • information related to a motion state of the user for example, information on a pressure applied between the thigh and the supporting module, may be confirmed.
  • the controller 90 may determine the necessary torque T_N as “0”.
  • the supporting module supports the rear surface of the thigh of the user.
  • the close contact between the supporting module and the thigh may be maintained by a self-load of the supporting module although a separate torque is not provided. Accordingly, by setting a torque to be applied to the user to “0”, a force that obstructs a backward rotation of the leg of the user may be minimized.
  • the controller 90 may determine the driving torque T_D based on the necessary torque T_N determined in operation 1300 .
  • a torque is to be transmitted to the user entirely through the driving module, for example, when another component configured to transmit a torque to the user is not provided in addition to a driving module.
  • the controller 90 may set the driving torque T_D to be a value identical to the necessary torque T_N.
  • the controller 90 may set the driving torque T_D based on the necessary torque T_N and a torque of the other component.
  • FIG. 5 is a flowchart illustrating operation 1100 of sensing leg rotation information according to at least one example embodiment
  • FIG. 6 illustrates a state in which a user is standing erect to describe operation 1100 of sensing leg rotation information according to at least one example embodiment
  • FIG. 7 illustrates a state in which a user is walking to describe operation 1100 of sensing leg rotation information according to at least one example embodiment.
  • the controller 90 may execute operation 1110 of measuring an angle ⁇ 1 of an upper body of a user, operation 1120 of measuring a relative angle ⁇ 2 between the upper body and a lower body of the user, operation 1130 of determining an angle ⁇ 3 of the lower body of the user, and operation 1140 of determining an angular velocity of the lower body of the user.
  • the controller 90 may, for example, measure the angle ⁇ 1 of the upper body U of the user based on a direction vertical to the ground.
  • the controller 90 may measure the angle ⁇ 1 of the upper body U of the user based on information sensed by the inertial sensor 50 fixed to one side of the fixing module 20 .
  • the inertial sensor 50 may include three accelerometers configured to measure rectilineal motions, and three gyroscopes configured to measure rotational motions.
  • the controller 90 may, measure the angle ⁇ 2 between the upper body U and the lower body L, irrespective of a motion state of the user.
  • the controller 90 may measure the angle ⁇ 2 between the upper body U and the lower body L of the user based on information sensed by the encoder 34 fixed to one side of the fixing module 20 to measure a rotation angle of the supporting module 40 with respect to the fixing module 20 .
  • the encoder 34 may be connected to a rotation axis of the actuator of the driving module 30 .
  • the controller 90 may determine the angle ⁇ 3 of the lower body L of the user based on a direction vertical to the ground, irrespective of the motion state of the user. For example, the controller 90 may determine the angle ⁇ 3 based on the two angles ⁇ 1 and ⁇ 2 respectively measured in operations 1110 and 1120 .
  • the controller 90 may determine the angular velocity of the lower body of the user based on a differential value of the angle ⁇ 3 determined in operation 1130 with respect to a time.
  • Example embodiments are not limited to the control method described above.
  • Operation 1100 may be performed using another method.
  • an inertial sensor may be attached directly to a leg of the user, and leg rotation information of the user, for example, an angular velocity of the leg, may be sensed based on information sensed by the attached inertial sensor.
  • FIG. 8 is a flowchart illustrating operation 1200 of determining a motion according to at least one example embodiment
  • FIG. 9A is a graph illustrating a rotation speed of one leg of a user
  • FIG. 9B is a graph illustrating a necessary torque determined through a method of controlling a motion assistance apparatus according to at least one example embodiment.
  • the controller 90 may execute operation 1210 of comparing an angular velocity of a lower body of a user to at least one set value, and operations 1220 , 1230 , and 1240 of determining a motion based on a result of the comparing of operation 1210 .
  • the motion may be classified into three motions.
  • the motion may include an extension motion associated with the user rotating a leg backward, a flexion motion associated with the user rotating the leg forward, and a stop motion associated with the user stopping rotating the leg rather than rotating the leg within a desired (or, alternatively, predetermined) range.
  • the stop motion may be set to be a desired (or, alternatively, a predetermined) period including a period in which an angular velocity of a lower body of the user is exactly “0”.
  • an excessive load applied to a controller and a driving module in response to an excessive change in a control signal of the driving module may be prevented.
  • descriptions will be provided based on a condition that an angular velocity in a state in which the leg of the user rotates forward, for example, when the leg of the user moves in a flexion direction, is set to be a negative value, and an angular velocity in a state in which the leg of the user rotates backward, for example, when the leg of the user moves in an extension direction, is set to be a positive value.
  • signs of the angular velocity may be set reversely.
  • the controller 90 may compare the angular velocity of the lower body of the user to a first set value (“min”) and a second set value (“max”) which is greater than the first set value.
  • a first set value (“min”)
  • a second set value (“max”) which is greater than the first set value.
  • FIG. 9A illustrates a case in which the first set value is “ ⁇ 1”, and the second set value is “1”.
  • the first set value and the second set value may be values having a unit of a torque, for example, Newton meter (Nm).
  • the controller 90 may set a motion of the user as the flexion motion, and the controller 90 may determine a necessary torque T_N, for example, by performing operation 1310 .
  • the motion of the user may be determined to be the flexion motion. In this example, as shown in FIG.
  • a necessary torque T_N to be applied to the lower body of the user in the period between t 2 and t 3 and the period between t 8 and t 9 may be set to be a desired (or, alternatively, a predetermined) motion assistance torque.
  • the controller 90 determines that the angular velocity of the lower body of the user is greater than or equal to the first set value and less than the second set value, the motion of the user may be determined to be the stop motion, and the controller 90 may determine a necessary torque T_N, for example, by performing operation 1320 .
  • the controller 90 may determine a necessary torque T_N, for example, by performing operation 1320 .
  • the controller 90 may determine the motion of the user to be the stop motion.
  • the controller 90 may apply a necessary torque to the lower body of the user as a desired (or, alternatively, a predetermined) contact maintenance torque.
  • the controller 90 may determine the motion of the user to be the extension motion, and the controller 90 may determine a necessary torque T_N, for example, by performing operation 1330 .
  • the motion of the user in a period between 0 and t 1 , a period between t 4 and t 5 , a period between t 6 and t 7 , and a period after t 10 in which the angular velocity V of the lower body of the user is greater than or equal to “1”, the motion of the user may be determined to be the extension motion.
  • the controller 90 may set a necessary torque T_N to be applied to the lower body of the user in the corresponding periods to “0”.
  • operation 1200 of determining a motion may include an operation of determining a motion with time based on a input (or, alternatively, a pre-input) gait cycle or a recent mean gait cycle confirmed in real time, rather than the angular velocity of the lower body.
  • FIGS. 10 and 11 are views illustrating a motion assistance apparatus 2 according to at least one example embodiment.
  • FIG. 10 illustrates the motion assistance apparatus 2 in a state in which a user is standing erect
  • FIG. 11 illustrates the motion assistance apparatus 2 in a state in which a leg of the user rotates forward.
  • the motion assistance apparatus 2 may further include an elastic body 200 configured to provide an elastic force to the supporting module 40 .
  • the elastic body 200 may be, for example, a rubber band, or a spring.
  • the elastic body 200 may include a first connector 210 connected to the fixing module 20 , a second connector 220 connected to the supporting module 40 , and a hanging portion 230 disposed between the first connector 210 and the second connector 220 and hung on one side of the fixing module 20 or the supporting module 40 .
  • the first connector 210 may be connected to, for example, the fixing frame 22 of the fixing module 20 .
  • the second connector 220 may be connected to, for example, the force transmitting frame 42 of the support module 40 .
  • the elastic body 200 may be hung on, for example, the driving module 30 .
  • the elastic body 200 may be connected to the motion assistance apparatus 2 along the fixing frame 22 and the force transmitting frame 42 .
  • the elastic body 200 may be disposed on a path on which the fixing module 20 and the force transmitting frame 42 extend. Thus, a space to be additionally secured for a deformation and a movement of the elastic body 200 may be minimized.
  • the elastic body 200 may be disposed inside the fixing frame 22 , the driving module 30 , and the force transmitting frame 42 .
  • damage or corrosion of the elastic body 200 resulting from an external impact or a contaminant may be prevented, whereby a lifespan of the elastic body 200 may increase.
  • a body or cloth of the user being shut during the deformation of the elastic body 200 may be prevented.
  • the elastic body 200 may provide the supporting module 40 with an elastic force in a direction in which the supporting module 40 rotates forward with respect to the fixing module 20 , in detail, in a flexion direction, while the user is standing erect.
  • the elastic body 200 may enable the supporting module 40 to be in close contact with the user, without driving the driving module 30 , while the user is standing erect. In detail, energy to be used to drive the driving module 30 to generate a contact maintenance torque may be saved.
  • the elastic body 200 may include, for example, a static load spring. In this example, irrespective of an angle of the supporting module 40 , a constant elastic torque may be generated by the elastic body 200 and thus, the driving module 30 may be controlled simply and precisely.
  • FIGS. 12 and 13 are views illustrating a motion assistance apparatus 3 according to at least one example embodiment.
  • FIG. 12 illustrates the motion assistance apparatus 3 in a state in which a user is standing erect
  • FIG. 13 illustrates the motion assistance apparatus 3 in a state in which a leg of the user rotates forward.
  • the motion assistance apparatus 3 may further include an elastic body 300 configured to provide an elastic force to the supporting module 40 .
  • the elastic body 300 may include a first connector 310 connected to the fixing module 20 , and a second connector 320 connected to the supporting module 40 . As illustrated in FIGS. 12 and 13 , the elastic body 300 may not hang on the driving module 30 .
  • FIGS. 14 and 15 are views illustrating a motion assistance apparatus 4 according to at least one example embodiment.
  • FIG. 14 illustrates the motion assistance apparatus 4 in a state in which a user is standing erect
  • FIG. 15 illustrates the motion assistance apparatus 4 in a state in which a leg of the user rotates forward.
  • the motion assistance apparatus 4 may further include an elastic body 400 configured to provide an elastic force to the supporting module 40 .
  • the elastic body 400 may include a first connector 410 connected to the fixing module 20 , a second connector 420 connected to the supporting module 40 , and a winding portion 430 wound over the driving module 30 .
  • the elastic body 400 may be a torsion spring configured to enclose the driving module 30 .
  • the motion assistance apparatus 4 may provide the user with a torque by the driving module 30 and a torque by the elastic body 400 .
  • the torque by the driving module 30 may be an active torque that changes based on a control signal of the controller 90 .
  • the torque by the elastic body 400 may be a passive torque, in detail, a torque determined (or, alternatively, predetermined) based on a specification of the elastic body 400 and a gait state of the user.
  • a torque that changes suitably for a gait state of the user may be generated as described below.
  • FIG. 16 is a flowchart illustrating a method of controlling a motion assistance apparatus according to at least one example embodiment.
  • FIG. 17A is a graph illustrating a necessary torque determined through the method of controlling a motion assistance apparatus according to at least one example embodiment
  • FIG. 17B is a graph illustrating an elastic torque determined through the method of controlling a motion assistance apparatus according to at least one example embodiment
  • FIG. 17C is a graph illustrating a driving torque determined through the method of controlling a motion assistance apparatus according to at least one example embodiment.
  • an axis Y indicates a magnitude of a torque
  • a positive direction of the axis Y indicates an extension direction
  • a negative direction of the axis Y indicates a flexion direction.
  • the method of controlling a motion assistance apparatus may include operation 2400 of determining a driving torque T_D.
  • the controller 90 may perform operation 2400 after operation 1300 of determining a necessary torque T_N is performed.
  • the controller 90 may determine the driving torque T_D based on the necessary torque T_N determined in operation 1300 , and an elastic torque applied by an elastic body of the motion assistance apparatus to a lower body of a user.
  • FIG. 17B illustrates a case in which the elastic torque T_E has a constant value irrespective of a lapse of time or an angle of the lower body of the user.
  • the elastic body may provide the user with a constant elastic torque T_E.
  • the elastic torque T_E may be a value determined (or, alternatively, predetermined) based on a specification of the elastic body.
  • the controller 90 may determine a value obtained by subtracting the elastic torque T_E from the necessary torque T_N to be the driving torque T_D.
  • the controller may drive the actuator 32 using the driving torque T_D determined in operation 2400 such that an accurate necessary torque T_N may be provided to the user.
  • a time period corresponding to a stop motion may be longer than a remaining time period corresponding to a flexion motion or an extension motion.
  • the driving torque T_D may be determined as shown in FIG. 17C .
  • a driving module may not need to be driven during the time period corresponding to the stop motion. Thus, energy to be used for an operation of the driving module may be saved.
  • a torque applied in a positive direction of the axis Y of FIG. 17C may be a torque applied in the extension direction of the user. According to the foregoing control method, an elastic torque obstructing an extension motion of the user may be eliminated.
  • the driving module may rotate in both directions.
  • the elastic torque T_E may change based on an angle of the leg of the user.
  • the controller 90 may sense the elastic torque T_E based on leg rotation information of the user, and determine a value obtained by subtracting the sensed elastic torque T_E from the necessary torque T_N to be the driving torque T_D. According to the foregoing control method, an accurate necessary torque T_N may be provided to the user by the elastic body and the driving module.
  • FIG. 18 is a flowchart illustrating a method of controlling a motion assistance apparatus according to at least one example embodiment.
  • the controller 90 may perform operation 3300 to determine a driving torque T_D based on the determined motion.
  • operation 3300 may include operations 3310 and 3320 .
  • the controller 90 may determine that the driving torque T_D is a motion assistance torque.
  • the determination in operation 3310 may be similar to the determination in operation 1310 (see FIG. 4 ).
  • the controller 90 may determine that the driving torque T_D is “0”. For example, when the controller 90 determines that the motion corresponds to a stop motion or an extension motion, the controller 90 may determine that the driving T_D is “0”. In a case of the stop motion or the extension motion, a close contact between a supporting module and a thigh may be maintained by a self-load of an elastic body or the supporting module. In this example, a driving module may not need to be driven during a time period corresponding to the stop motion or the extension motion and thus, energy to be used for an operation of the driving module may be saved.
  • a motion may be assisted by rotating the driving module in one direction only.
  • a motion may be assisted using a driving module configured to generate a unidirectional torque.
  • the motion assistance apparatus may be controlled more simply, whereby a response of the motion assistance apparatus may increase and an error resulting from a complexity of the control method may be reduced.
  • FIG. 19 is a view illustrating a motion assistance apparatus 5 according to at least one example embodiment
  • FIG. 20 is a flowchart illustrating a method of controlling the motion assistance apparatus 5 according to at least one example embodiment.
  • the motion assistance apparatus 5 may further include a pressure sensor 500 configured to measure a pressure applied by a leg of a user to the supporting module 40 .
  • the pressure sensor 500 may be disposed in the supporting module 40 .
  • the pressure sensor 500 may be disposed between the force transmitting frame 42 and the supporting plate 44 .
  • the controller 90 may perform operation 4100 to sense leg rotation information of the user, and operation 4200 to determine a motion of the user based on the sensed leg rotation information.
  • the controller 90 may obtain the leg rotation information of the user based on a pressure sensed by the pressure sensor 500 .
  • the controller 90 may determine the motion based on the pressure sensed by the pressure sensor 500 .
  • Operation 4200 may include operations 4210 , 4220 , 4230 and 4240 .
  • the controller 90 may compare the pressure sensed by the pressure sensor 500 to at last one set value, and perform one of operations 4220 , 4230 , and 4240 to determine a motion based on a result of the comparing of operation 4210 .
  • the controller 90 may compare the sensed pressure to a first set value min and a second set value max which is greater than the first set value.
  • the first set value and the second set value may be values having a unit of a pressure, for example, pascal (Pa).
  • Pa pascal
  • example embodiments are not limited thereto.
  • the controller 90 may determine that the leg of the user is performing flexion motion in which the leg of the user moves in a direction away from the supporting module 40 , and, therefore, the controller 90 may determine a necessary torque T_N, for example, by performing operation 1310 .
  • the controller 90 may determine that the leg of the user is performing stop motion in which the leg of the user provides a pressure to the supporting module 40 within a desired (or, alternatively, a predetermined) range, and, therefore, the controller 90 may determine the necessary torque T_N, for example, by performing operation 1320 .
  • the controller 90 may determine that the leg of the user is performing extension motion in which the leg of the user moves toward the supporting module 40 , and, therefore, the controller 90 may determine the necessary torque T_N, for example, by performing operation 1330 .
  • the controller 90 may sense the leg rotation information of a user and/or determine a motion of the user indirectly using the foregoing method, without directly measuring an angle or an angular velocity of the leg of the user.
  • FIG. 21 is a view illustrating a motion assistance apparatus 6 according to at least one example embodiment.
  • the motion assistance apparatus 6 may further include a strain gauge 600 configured to measure a deformation of the supporting module 40 .
  • the strain gauge 600 may be disposed in the supporting module 40 .
  • the strain gauge 600 may be disposed in an elastic member provided in the supporting plate 44 to measure a deformation rate of the elastic member.
  • the strain gauge 600 may be disposed in the force transmitting frame 42 to measure a deformation rate of the force transmitting frame 42 .
  • the supporting module 40 may be deformed in proportion to a force or a pressure applied between a lower body of the user and the supporting module 40 .
  • the controller 90 may sense the leg rotation information using the strain gauge 600 , and determine a motion of the user based on the sensed leg rotation information, as described above. Detailed descriptions thereof will be omitted for conciseness.
  • the units and/or modules described herein may be implemented using hardware components and software components.
  • the hardware components may include microphones, amplifiers, band-pass filters, audio to digital converters, and processing devices.
  • a processing device may be implemented using one or more hardware device configured to carry out and/or execute program code by performing arithmetical, logical, and input/output operations.
  • the processing device(s) may include a processor, a controller and an arithmetic logic unit, a digital signal processor, a microcomputer, a field programmable array, a programmable logic unit, a microprocessor or any other device capable of responding to and executing instructions in a defined manner.
  • the processing device may run an operating system (OS) and one or more software applications that run on the OS.
  • OS operating system
  • the processing device also may access, store, manipulate, process, and create data in response to execution of the software.
  • a processing device may include multiple processing elements and multiple types of processing elements.
  • a processing device may include multiple processors or a processor and a controller.
  • different processing configurations are possible, such a parallel processors.
  • the software may include a computer program, a piece of code, an instruction, or some combination thereof, to independently or collectively instruct and/or configure the processing device to operate as desired, thereby transforming the processing device into a special purpose processor.
  • Software and data may be embodied permanently or temporarily in any type of machine, component, physical or virtual equipment, computer storage medium or device, or in a propagated signal wave capable of providing instructions or data to or being interpreted by the processing device.
  • the software also may be distributed over network coupled computer systems so that the software is stored and executed in a distributed fashion.
  • the software and data may be stored by one or more non-transitory computer readable recording mediums.
  • the methods according to the above-described example embodiments may be recorded in non-transitory computer-readable media including program instructions to implement various operations of the above-described example embodiments.
  • the media may also include, alone or in combination with the program instructions, data files, data structures, and the like.
  • the program instructions recorded on the media may be those specially designed and constructed for the purposes of example embodiments, or they may be of the kind well-known and available to those having skill in the computer software arts.
  • non-transitory computer-readable media examples include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD-ROM discs, DVDs, and/or Blue-ray discs; magneto-optical media such as optical discs; and hardware devices that are specially configured to store and perform program instructions, such as read-only memory (ROM), random access memory (RAM), flash memory (e.g., USB flash drives, memory cards, memory sticks, etc.), and the like.
  • program instructions include both machine code, such as produced by a compiler, and files containing higher level code that may be executed by the computer using an interpreter.
  • the above-described devices may be configured to act as one or more software modules in order to perform the operations of the above-described example embodiments, or vice versa.

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US11583464B2 (en) * 2016-12-28 2023-02-21 Samsung Electronics Co., Ltd. Sensor device and walking assist device using the sensor device
US20210330540A1 (en) * 2020-04-27 2021-10-28 C.R.F. Società Consortile Per Azioni System for assisting an operator in a work station

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EP3132783B1 (de) 2020-02-12
CN106466220A (zh) 2017-03-01
US20170049658A1 (en) 2017-02-23
EP3132783A2 (de) 2017-02-22
CN106466220B (zh) 2021-01-05
KR20170021108A (ko) 2017-02-27
EP3132783A3 (de) 2017-04-19

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